/*
 * Copyright (C) 2011 Google Inc.
 * 
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 * 
 * http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

package org.ros.android.view;

import android.content.Context;

import android.util.AttributeSet;

import org.ros.android.MessageCallable;
import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.node.ConnectedNode;
import org.ros.node.Node;
import org.ros.node.NodeMain;
import org.ros.node.topic.Subscriber;
import geometry_msgs.PoseWithCovarianceStamped;
import random_num_10.My_random_num_value;


/**
 * @author damonkohler@google.com (Damon Kohler)
 */
public class My_cartographer_pose<T>  implements NodeMain {
  private MessageCallable<PoseWithCovarianceStamped, T> callable;


  public My_cartographer_pose(Context context) {
    //super(context);
  }

  public My_cartographer_pose(Context context, AttributeSet attrs) {
    //super(context, attrs);
  }

  public My_cartographer_pose(Context context, AttributeSet attrs, int defStyle) {
    //super(context, attrs, defStyle);
  }


  public void setMessageCallable(MessageCallable<PoseWithCovarianceStamped, T> callable) {
    this.callable = callable;
  }

  @Override
  public GraphName getDefaultNodeName() {
    return GraphName.of("android_gingerbread/ros_text_view_cartographer_pose"+ My_random_num_value.random_num);
  }

  @Override
  public void onStart(ConnectedNode connectedNode) {
    Subscriber<T> subscriber = connectedNode.newSubscriber("/cartographer_pose_repub", "geometry_msgs/PoseWithCovarianceStamped");
    subscriber.addMessageListener(new MessageListener<T>() {
      @Override
      public void onNewMessage(final T message) {
        if (callable != null) {
          callable.call(message);
        }
      }
    });

  }

  @Override
  public void onShutdown(Node node) {
  }

  @Override
  public void onShutdownComplete(Node node) {
  }

  @Override
  public void onError(Node node, Throwable throwable) {
  }
}